JiLinCpApp/JiLinApp.Docking/Ptz/PelcoD.cs

namespace JiLinApp.Docking.Ptz;

public class PelcoD
{
    private string watchdir = ""; //监控方向
    private static readonly byte STX = 0xFF; //同步字节

    #region 监控方向和定时监控实体

    public string WatchDir
    {
        get { return watchdir; }
        set { watchdir = value; }
    }

    #endregion 监控方向和定时监控实体

    #region 基本指令定义

    #region 指令码1

    private const byte FocusNear = 0x01; //增加聚焦
    private const byte IrisOpen = 0x02; //减小光圈
    private const byte IrisClose = 0x04; //增加光圈
    private const byte CameraOnOff = 0x08; //摄像机打开和关闭
    private const byte AutoManualScan = 0x10; //自动和手动扫描
    private const byte Sense = 0x80; //Sence码

    #endregion 指令码1

    #region 指令码2

    private const byte PanRight = 0x02; //右
    private const byte PanLeft = 0x04; //左

    private const byte TiltUp = 0x08; //上
    private const byte TiltDown = 0x10; //下
    private const byte ZoomTele = 0x20; //增加对焦
    private const byte ZoomWide = 0x40; //减小对焦
    private const byte FocusFar = 0x80; //减小聚焦

    #endregion 指令码2

    #region 镜头左右平移的速度

    public static byte PanSpeedMin = 0x00; //停止
    public static byte PanSpeedMax = 0x3F; //最高速

    #endregion 镜头左右平移的速度

    #region 镜头上下移动的速度

    public static byte TiltSpeedMin = 0x00; //停止
    public static byte TiltSpeedMax = 0x3F; //最高速

    #endregion 镜头上下移动的速度

    #endregion 基本指令定义

    private const byte PanRightUp = 0xa; //右上
    private const byte PanLeftUp = 0x0c; //左上

    private const byte PanRightDown = 0x12; //右下
    private const byte PanLeftDown = 0x14; //左下

    #region 云台控制枚举

    public enum Switch
    {
        On = 0x01,
        Off = 0x02
    } //雨刷控制

    public enum Focus
    {
        Near = FocusNear,
        Far = FocusFar
    } //聚焦控制

    public enum Zoom
    {
        Wide = ZoomWide,
        Tele = ZoomTele
    } //对焦控制

    public enum Tilt
    {
        Up = TiltUp,
        Down = TiltDown
    } //上下控制

    public enum Pan
    {
        Left = PanLeft,
        Right = PanRight,
        LeftUp = PanLeftUp,
        LeftDown = PanLeftDown,
        RightUp = PanRightUp,
        RightDown = PanRightDown
    } //左右控制

    public enum Scan
    {
        Auto,
        Manual
    } //自动和手动控制

    public enum Iris
    {
        Open = IrisOpen,
        Close = IrisClose
    } //光圈控制

    public enum PresetAction
    {
        Set = 0x03,
        Clear = 0x05,
        Goto = 0x07
    }

    #endregion 云台控制枚举

    #region 云台控制方法

    //雨刷控制
    public static byte[] CameraSwitch(uint deviceAddress, Switch action)
    {
        byte m_action = CameraOnOff;
        if (action == Switch.On)
            m_action = CameraOnOff + Sense;
        return Message.GetMessage(deviceAddress, m_action, 0x00, 0x00, 0x00);
    }

    //光圈控制
    public static byte[] CameraIrisSwitch(uint deviceAddress, Iris action)
    {
        return Message.GetMessage(deviceAddress, (byte)action, 0x00, 0x00, 0x00);
    }

    //聚焦控制
    public static byte[] CameraFocus(uint deviceAddress, Focus action)
    {
        if (action == Focus.Near)
            return Message.GetMessage(deviceAddress, (byte)action, 0x00, 0x00, 0x00);
        else
            return Message.GetMessage(deviceAddress, 0x00, (byte)action, 0x00, 0x00);
    }

    //对焦控制
    public static byte[] CameraZoom(uint deviceAddress, Zoom action)
    {
        return Message.GetMessage(deviceAddress, 0x00, (byte)action, 0x00, 0x00);
    }

    /// <summary>
    /// 上下控制
    /// </summary>
    /// <param name="deviceAddress"></param>
    /// <param name="action"></param>
    /// <param name="speed"></param>
    /// <returns></returns>

    public static byte[] CameraTilt(uint deviceAddress, Tilt action, uint speed)
    {
        if (speed < TiltSpeedMin)
            speed = TiltSpeedMin;
        if (speed > TiltSpeedMax)
            speed = TiltSpeedMax;
        return Message.GetMessage(deviceAddress, 0x00, (byte)action, 0x00, (byte)speed);
    }

    /// <summary>
    /// 左右控制
    /// </summary>
    /// <param name="deviceAddress"></param>
    /// <param name="action"></param>
    /// <param name="speed"></param>
    /// <returns></returns>

    public static byte[] CameraPan(uint deviceAddress, Pan action, uint speed)
    {
        if (speed < PanSpeedMin)
            speed = PanSpeedMin;
        if (speed > PanSpeedMax)
            speed = PanSpeedMax;
        return Message.GetMessage(deviceAddress, 0x00, (byte)action, (byte)speed, 0x00);
    }

    //停止云台的移动
    public static byte[] CameraStop(uint deviceAddress)
    {
        return Message.GetMessage(deviceAddress, 0x00, 0x00, 0x00, 0x00);
    }

    //自动和手动控制
    public static byte[] CameraScan(uint deviceAddress, Scan scan)
    {
        byte m_byte = AutoManualScan;
        if (scan == Scan.Auto)
            m_byte = AutoManualScan + Sense;
        return Message.GetMessage(deviceAddress, m_byte, 0x00, 0x00, 0x00);
    }

    public static byte[] Preset(uint deviceAddress, PresetAction action, byte presetId)
    {
        return Message.GetMessage(deviceAddress, 0x00, (byte)action, 0x00, presetId);
    }

    #endregion 云台控制方法

    public struct Message
    {
        public static byte Address;
        public static byte CheckSum;

        public static byte Command1,
            Command2,
            Data1,
            Data2;

        public static byte[] GetMessage(
            uint address,
            byte command1,
            byte command2,
            byte data1,
            byte data2
        )
        {
            if (address < 1 & address > 256)
                throw new Exception("Pelco D协议只支持256设备");
            Address = byte.Parse(address.ToString());
            Command1 = command1;
            Command2 = command2;
            Data1 = data1;
            Data2 = data2;
            CheckSum = (byte)(Address + Command1 + Command2 + Data1 + Data2);
            return new byte[] { STX, Address, Command1, Command2, Data1, Data2, CheckSum };
        }
    }
}